Omron NA HMI MC Test Run IAG Library User guide

/

Programmable Terminal NA-series

Practices Guide

MC Test Run IAG Library

NA5-15W[][][][]

NA5-12W[][][][]

NA5-9W[][][][]

NA5-7W[][][][]

V436-E1-01

2

■ Introduction

This guide provides reference information for the use of MC Test Run IAG library. It does not provide

safety information.

Be sure to obtain the NA-series Programmable Terminal User's Manuals, read and understand the

safety points and other information required for use, and test sufficiently before actually using the

equipment.

Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan

and other countries for OMRON factory automation products.

Other company names and product names in this document are the trademarks or registered

trademarks of their respective companies.

Microsoft product screen shots are reprinted with permission from Microsoft Corporation.

3

Terms and Conditions Agreement

Warranty, Limitations of Liability

Warranties

 Exclusive Warranty

Omron’s exclusive warranty is that the Products will be free from defects in materials and

workmanship for a period of twelve months from the date of sale by Omron (or such other period

expressed in writing by Omron). Omron disclaims all other warranties, express or implied.

 Limitations

OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED,

ABOUT NON-INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR

PURPOSE OF THE PRODUCTS. BUYER ACKNOWLEDGES THAT IT ALONE HAS

DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF

THEIR INTENDED USE.

Omron further disclaims all warranties and responsibility of any type for claims or expenses

based on infringement by the Products or otherwise of any intellectual property right.

 Buyer Remedy

Omron’s sole obligation hereunder shall be, at Omron’s election, to (i) replace (in the form

originally shipped with Buyer responsible for labor charges for removal or replacement

thereof) the non-complying Product, (ii) repair the non-complying Product, or (iii) repay or

credit Buyer an amount equal to the purchase price of the non-complying Product; provided

that in no event shall Omron be responsible for warranty, repair, indemnity or any other

claims or expenses regarding the Products unless Omron’s analysis confirms that the

Products were properly handled, stored, installed and maintained and not subject to

contamination, abuse, misuse or inappropriate modification. Return of any Products by

Buyer must be approved in writing by Omron before shipment. Omron Companies shall not

be liable for the suitability or unsuitability or the results from the use of Products in

combination with any electrical or electronic components, circuits, system assemblies or any

other materials or substances or environments. Any advice, recommendations or

information given orally or in writing, are not to be construed as an amendment or addition to

the above warranty.

See http: //www.omron.com/global/ or contact your Omron representative for published

information.

Limitation on Liability; Etc

OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL,

OR CONSEQUENTIAL DAMAGES, LOSS OF PROFITS OR PRODUCTION OR

COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS, WHETHER

SUCH CLAIM IS BASED IN CONTRACT, WARRANTY, NEGLIGENCE OR STRICT

LIABILITY.

Further, in no event shall liability of Omron Companies exceed the individual price of the

Product on which liability is asserted.

4

Application Considerations

Suitability of Use

Omron Companies shall not be responsible for conformity with any standards, codes or

regulations which apply to the combination of the Product in the Buyer’s application or use

of the Product. At Buyer’s request, Omron will provide applicable third party certification

documents identifying ratings and limitations of use which apply to the Product. This

information by itself is not sufficient for a complete determination of the suitability of the

Product in combination with the end product, machine, system, or other application or use.

Buyer shall be solely responsible for determining appropriateness of the particular Product

with respect to Buyer’s application, product or system. Buyer shall take application

responsibility in all cases.

NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO

LIFE OR PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS

BEEN DESIGNED TO ADDRESS THE RISKS, AND THAT THE OMRON PRODUCT(S) IS

PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL

EQUIPMENT OR SYSTEM.

Programmable Products

Omron Companies shall not be responsible for the user’s programming of a programmable

Product, or any consequence thereof.

Disclaimers

Performance Data

Data presented in Omron Company websites, catalogs and other materials is provided as a

guide for the user in determining suitability and does not constitute a warranty. It may

represent the result of Omron’s test conditions, and the user must correlate it to actual

application requirements. Actual performance is subject to the Omron’s Warranty and

Limitations of Liability.

Change in Specifications

Product specifications and accessories may be changed at any time based on

improvements and other reasons. It is our practice to change part numbers when published

ratings or features are changed, or when significant construction changes are made.

However, some specifications of the Product may be changed without any notice. When in

doubt, special part numbers may be assigned to fix or establish key specifications for your

application. Please consult with your Omron’s representative at any time to confirm actual

specifications of purchased Product.

Errors and Omissions

Information presented by Omron Companies has been checked and is believed to be

accurate; however, no responsibility is assumed for clerical, typographical or proofreading

errors or omissions.

5

Contents

Terms and Conditions Agreement ........................................................................ 3

Warranty, Limitations of Liability ............................................................................................. 3

Application Considerations ..................................................................................................... 4

Disclaimers ............................................................................................................................. 4

Contents .................................................................................................................. 5

１ Related Manuals ............................................................................................... 7

２ Precautions ....................................................................................................... 8

３ Introduction ....................................................................................................... 9

３-１ Applicable Model .................................................................................................... 10

３-２ Object Configuration............................................................................................... 10

３-３ Outline of System Configuration ............................................................................ 12

４ Use Cases ........................................................................................................ 13

４-１ Axis Test Run Screen............................................................................................. 13

４-２ Axis Test Run Pop-up Page ................................................................................... 14

５ Details of IAG Specifications ......................................................................... 15

５-１ Axis Status Monitor IAG ......................................................................................... 15

５-２ Jog Feed IAG ......................................................................................................... 19

５-３ Absolute Positioning IAG ....................................................................................... 23

５-４ Relative Positioning IAG ........................................................................................ 27

５-５ Homing IAG ............................................................................................................ 31

６ Details of FB Specifications .......................................................................... 35

６-１ Axis Information Acquire FB ................................................................................... 35

６-２ Manual Operation FB ............................................................................................. 37

6

７ Details of Variable Specifications ................................................................. 39

７-１ Structures Registered in FB Library of NJ .............................................................. 39

７-２ Structures Registered in IAG Object of NA ............................................................ 40

８ Install Procedure ............................................................................................. 41

８-１ Registering NJ Variables ........................................................................................ 42

８-２ Importing FB Library File ........................................................................................ 44

８-３ Adding FB to NJ Program ...................................................................................... 45

８-４ Adding Axis Start Variables .................................................................................... 47

８-５ Registering and Mapping NA Variables ................................................................. 50

８-６ Importing IAG File ................................................................................................... 52

８-７ Placing IAG Object on NA Screen .......................................................................... 53

８-８ Adding Subroutine/ Event and Action to Page ....................................................... 55

Revision History ................................................................................................... 62

7

１ Related Manuals

The following manuals are related to this guide.

Cat. No. Model Manual name

V117 NA5-15W[][][][]

NA5-12W[][][][]

NA5-9W[][][][]

NA5-7W[][][][]

NA-series Programmable Terminal Hardware User’s Manual

V118 NA5-15W[][][][]

NA5-12W[][][][]

NA5-9W[][][][]

NA5-7W[][][][]

NA-series Programmable Terminal Software User’s Manual

V119 NA5-15W[][][][]

NA5-12W[][][][]

NA5-9W[][][][]

NA5-7W[][][][]

NA-series Programmable Terminal Device Connection User’s

Manual

V120 NA5-15W[][][][]

NA5-12W[][][][]

NA5-9W[][][][]

NA5-7W[][][][]

NA-series Programmable Terminal Startup Guide

W505 NX701-1[][][]

NJ501-1[][][]

NJ301-1[][][]

NJ101-10[][]

NJ/NX-series CPU Unit Built-in EtherCAT® Port User’s Manual

W507 NX701-1[][][]

NJ501-1[][][]

NJ301-1[][][]

NJ101-10[][]

NJ/NX-series CPU Unit Motion Control User's Manual

I576 R88M-K[]

(AC Servomotors)

R88D-KN[]-ECT

(Servo Drives)

AC Servomotors/Servo Drives

G5-series

(Built-in EtherCAT® Communications) User's Manual

I586 R88M-1L[]/-1M[]

(AC Servomotors)

R88D-1SN[]-ECT

(AC Servo Drives)

AC Servomotors/Servo Drives

1S-series

(Built-in EtherCAT® Communications) User’s Manual

W504 SYSMAC-SE2[][][] Sysmac Studio Version 1 Operation Manual

8

２

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increase u

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easily create

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Monitor

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Control

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10

３-１ Applicable Model

Item Name Model Version

Automation

software

Sysmac Studio SYSMAC-SE[][][][] V1.14 or late

r

*１

)

Device Programmable Terminal NA5-15W[][][][]

NA5-12W[][][][]

NA5-9W[][][][]

NA5-7W[][][][]

V1.03 or late

r

CPU Unit NJ501-[][][][]

NJ301-[][][][]

NJ101-10[][]

V1.11 or late

r

AC Servo Drives G5-series

(Built-in EtherCAT® Communications)

R88D-KN[]-ECT -

AC Servo Drives 1S-series

(Built-in EtherCAT® Communications)

R88D-1SN[]-ECT -

*１) Sysmac Studio V1.16 or later can be used for AC Servo Drives 1S-series.

Additional Information

Restrictions on the use of each product above may be described in other manuals.

Refer to Section 1 Related Manuals (P7).

３-２ Object Configuration

The Test Run IAG and FB libraries consist of the following objects;

 IAG object : 15 objects (5 types for pop-up page, 7/ 9 inch full-screen, and 12/ 15 inch

full-screen, respectively)

 Function Block : 2 FBs

Type Description Detail

IAG library file (for Popup page)

File name: DeviceWindowIAG_114A_E_MCTest Run_Popup.iag

IAG library files for pop-up and small-sized

screens.

IAG Axis status monitor_(Pop-up) Displays the Servo ON/OFF and its status.

IAG Jog feed_(Pop-up) Sets the parameter for Jog feed and

performs the operation.

IAG Absolute positioning_(Pop-up) Sets the parameter for absolute positioning

and performs the operation.

IAG Relative positioning_(Pop-up) Sets the parameter for relative positioning

and performs the operation.

IAG Homing_(Pop-up) Performs the homing.

IAG library file (for 7/ 9 inches)

File name: DeviceWindowIAG_114A_E_MCTest Run_9inch.iag IAG library files for 7/ 9 inch full-screen.

IAG Axis status monitor_(Full-screen) Displays the Servo ON/OFF and its status.

IAG Jog feed_(Full-screen) Sets the parameter for Jog feed and

performs the operation.

IAG Absolute positioning_(Full-screen) Sets the parameter for absolute positioning

and performs the operation.

IAG Relative positioning_(Full-screen) Sets the parameter for relative positioning

and performs the operation.

11

IAG Homing_(Full-screen) Performs the homing.

IAG library file (for 12/ 15 inches)

File name: DeviceWindowIAG_114A_E_MCTest Run_12inch.iag IAG library files for 12/ 15 inch full-screen.

IAG Axis status monitor_(Full-screen) Displays the Servo ON/OFF and its status.

IAG Jog feed_(Full-screen) Sets the parameter for Jog feed and

performs the operation.

IAG Absolute positioning_(Full-screen) Sets the parameter for absolute positioning

and performs the operation.

IAG Relative positioning_(Full-screen) Sets the parameter for relative positioning

and performs the operation.

IAG Homing_(Full-screen) Performs the homing.

Axis Information Acquire FB

File name: IAGCont_DeviceWindow_ReadDeviceName_V1_0.sir

FB library file that acquires the axis

information.

Function Block Acquires axis information. FB that acquires the axis information with

SDO.

Manual Operation FB

File name: IAGCont_DeviceWindow_MCTest Run_V1_0.sir

FB library file that performs manual

operation.

Function Block Performs manual operation. FB that performs manual operation.

We also provide the following Excel file that simplifies a declaration of NJ variables.

 Excel for variable declaration: One file

Type File name Detail

Excel for variable

declaration

MCTest

RunIAG_Variables.xlsx

This is a list of NJ variables to be registered to the

project using the IAG libraries.

12

３-３ Ou

t

In

c

o

M

N

S

t

line of S

formation b

e

formation b

e

o

mmunicati

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Device

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apping vari

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Axis s

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A

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ervo Dr

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Pop

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HMI

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ystem C

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tatus monit

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device na

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Status_Data

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Axis

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IAG_Device_I

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nfigurat

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cation:

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Manual o

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HMI_IAG

_

H

HMI_IAG

_

HMI_IAG

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communication:

Acquire

r

or information

mapping v

a

xis variabl

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tion FB

eration IAG

a

tus_Data

i

s

_

Axis

H

MI_IAG_Axis

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Axis_Status

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ServoON

_

Start/stop a

x

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riables.

e

s and SDO

Extract

axis inf

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n

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MC

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(Axis va

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Status

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c

x

is

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onitor

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rmation

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ontrol

４

４-１

A

Use

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he Sysmac

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nual opera

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s monitor I

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cts for full-s

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Motion Axi

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13

y

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Test Run

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to the “tab

Place “manua

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“tab control

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g

l

14

４-２

A

xi

Y

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b

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t

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m

T

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P

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[

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enable a

d

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p-up page

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operate th

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isplayMod

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pop-up pa

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e pop-up p

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].

u

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when a po

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ample, a J

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-up page p

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. On this p

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operation

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[Close] bu

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backmost

Top half：

A

Bottom ha

monitoring

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g feed scr

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laced with t

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ge, you ca

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[Movable]

c

k

ground scr

e

A

G objects is

o

f pages. Th

t

ton, positio

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p

osition on t

A

xis status

m

lf：Jog feed I

A

axes by pla

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en is show

n

h

e IAG obje

n

fine-tune t

h

c

heckbox in

e

en, select [

M

correspondi

erefore, wh

e

n

the IAG obj

h

e HMI

p

ro

je

onitor IAG

A

G

a

cing the po

p

n

below.

e

cts is displ

a

h

e axes whi

Properties

o

Modeless]

f

i

ng to the

e

n you place

j

ec

t

s in the

e

ct.

p

-up

a

yed on

le

o

n the

or

15

５ Details of IAG Specifications

５-１ Axis Status Monitor IAG

5-1-1 External Specification

Object name ServoStatus

Category IAG_MCTest_Popup

*1)

Function  Starts (enables)/ stops (disables) the specified axis.

 Switches the specified axis.

 Stops the operation of specified axis (emergency stop function).

 Displays the status of the specified axis.

*1) IAG category for popup page.

“IAG_MCTest_9inch” is the category for 9 inches, and “IIAG_MCTest_12inch” is for 12 inches.

16

5



N

1

2

3

4

5

6

7

8

④

①

⑤

⑥

④

⑦

5

-1-2 GUI

Pop-up pa

g

Full-scree

n

o

N

1

[Servo O

N

2

Drop-do

w

3

Node an

d

4

Comman

d

5

Axis feed

6

Axis stat

u

7

Error cod

e

8

Servo st

a

①

②

④

⑥

⑧

⑦

④

①

②

⑤

⑥

④

⑦

g

e

n

N

ame

N

/OFF] button

w

n list

d

Axis No.

d

value

back value

u

s

e

a

tus

①

②

④

 Turns O

N

 Enabled

w

 Shows th

 Select th

e

 Shows th

 Monitors

 Shows th

 Monitors

③

N

/ OFF the sel

e

w

hen Servo is

e connected s

e

axis you wa

n

e node No. an

e command v

a

e axis feedba

c

the status of t

h

e error code if

the status of s

e

③

Descr

e

cted axis.

OFF, disabled

e

rvo drives.

n

t to monitor fr

o

d the axis No.

a

lue.

c

k value.

h

e selected axi

there is an er

r

e

rvo drive of t

h

③

⑤

⑧

i

ption

when servo i

s

o

m the list.

of the selecte

d

s.

o

r during SDO

h

e selected axi

s

ON.

d

axis.

O

communicati

o

s.

o

n.

Propert

y

General

Name

Type

Version

Publisher

Appearanc

e

Backgroun

d

Layout

▼Position (

Left

Top

▼Size (Wid

Width

Height

Behavior (I

n

HMI_Axis

HMI_IAG_

A

Pop_Devic

e

*1)”Transp

a

*2)The coo

r

*3)In units

o

5-1-3 P

r

 Properti

e

y

name

S

p

u

n

S

p

c

h

S

p

S

p

e

d

Colo

r

S

p

Left,Top) S

p

a

S

p

of

S

p

th

e

th,Height) S

p

S

p

S

p

n

/Out)

S

p

A

xis_Status S

p

e

_Info S

p

a

rent” indicates th

a

r

dinate origin is th

e

o

f pixels

r

operties

e

s

D

p

ecifies the objec

t

n

ique in that scre

e

p

ecifies the objec

t

h

anged.

p

ecifies the versio

p

ecifies the IAG p

u

p

ecifies the backg

p

ecifies the positi

o

a

ge.*2)

p

ecifies the horiz

o

the position of th

e

p

ecifies the vertic

a

e

position of the t

o

p

ecifies the size o

f

p

ecifies the objec

t

p

ecifies the objec

t

p

ecifies the monit

o

p

ecifies the value

p

ecifies the conn

e

a

t the colour is tr

a

e

uppe

r

-left corn

e

D

escription

name. The nam

e

n.

type.This item c

a

n of the IAG.

u

blisher.

round color of th

e

o

n of the object o

n

o

ntal page coordi

n

e

top-left of the o

b

a

l page coordinat

o

p-left of the obje

c

f

the object.

width.

height.

o

r axis informatio

n

of operation para

m

cted device infor

m

The

p

a

nsparent.

r of the N

A

-serie

s

I

n

e

must be D

a

nnot be -

-

e

page. It

e

D

n

the D

S

n

ate (x-axis)

b

ject.

D

S

t

e (y-axis) of

c

t.

D

S

D

S

D

S

D

S

n

. D

m

ete

r

. D

m

ation. D

Properties scre

e

p

roperties of Pop

-

s

PT screen.

n

put method

irect input

S

c

-

e

m selection

irect input

C

S

irect input

p

in button

N

irect input

p

in button

N

irect input

p

in button

N

irect input

p

in button

N

irect input

p

in button

N

irect input

p

in button

N

irect input

S

(

irect input

S

(

irect input

S

(

e

n

-

up IAG

Range

S

tring( 1 to 127

c

haracters)

C

olor palette

S

tring

N

umerical

N

umerical

N

umerical

N

umerical

N

umerical

N

umerical

N

umerical

N

umerical

N

umerical

N

umerical

N

umerical

N

umerical

S

tructures

_

sAXIS

_

REF)

S

tructures

IAG_Param

_

RE

F

S

tructures

IAG_Device

_

Info

)

D

ServoStat

u

IAG

1.14A

Omron

Transpar

e

*1)

-

*3)

-

For Pop-u

For 9 inch

e

For 12

inches:(1

2

*3)

For Pop-u

For 9 inch

e

For 12 inc

For Pop-u

For 9 inch

e

For 12 inc

(Blank)

F

)

(Blank)

)

(Blank)

17

efault

u

s0

nt

p

:(231,268)

e

s:(800,282)

2

80,293)

p

:231

e

s:800

h

es:1280

p

:268

e

s:282

h

es:293

18



T

h



Y

o

Animati

o

Move

Resize Height

Resize Width

Visibility

Animation scree

n



Vari

a

HMI_Axis

Pop_Status_Da

t

Pop_Device_Inf

o

5



Event and

a

h

ere are no

Animation

o

u can defin

e

o

n name

n

I/O variabl

e

a

ble

t

a

o

5

-1-4 Fea

t

Among t

h

the drop

-

To displ

a

*The ser

v

Select a

n

displaye

d

To turn

O

To decel

e

during th

If there i

s

area of s

a

ction

event and

a

e

the basic

a

Changes the c

o

Changes the h

e

Changes the

w

Displays the o

b

e

timing

Ti

m

 When exec

u

 When chan

g

 When exec

u

 When chan

g

 When there

 When exec

u

 When chan

g

t

ures

h

e EtherCA

T

-

down list a

n

a

y the conn

e

v

o drive wit

h

n

y servo dri

v

d

in the disp

O

N/ OFF th

e

rate and s

t

e servo op

e

s

an error d

u

ervo status.

a

ction functi

o

a

nimation a

c

o

ordinates of the

o

e

ight of the objec

t

idth of the object

a

b

ject when a cond

m

ing for loading i

n

u

ting the “List_Ite

m

g

ing a drop-down

u

ting the “List_Ite

m

g

ing a drop-down

is an error.

u

ting the “List_Ite

m

g

ing a drop-down

T

devices c

o

n

d correspo

n

e

cted servo

d

h

the smalle

v

e from the

d

lay area.

e

selected s

e

t

op the sele

c

e

ration.

u

ring manu

a

o

ns.

ction.

o

bject according

t

according to a s

p

according to a sp

e

ition expression i

s

n

put data

m

Set” subroutine.

list item.

m

Set” subroutine.

list item.

m

Set” subroutine.

list item.

o

nnected to

n

ded to the

drives, pres

e

st node No.

d

rop-down l

e

rvo drive,

p

c

ted servo

d

a

l operation,

Description

t

o specified condi

t

p

ecified condition

e

cified condition

e

s

met.

 When

t

 When

[

Constantl

y

Constantl

y

the NJ, onl

y

axis No.

s the drop-

d

is shown b

y

ist, and the

n

p

ress the [S

e

d

rive, press

t

the error c

o

ion expressions.

expression.

e

xpression.

Timing for o

u

t

he [Servo ON/O

F

[

Deceleration sto

p

y

servo driv

e

d

own list.

y

default.

n

the status

e

rvo ON/O

F

t

he [Decele

r

o

de is displ

a

u

tputting data

F

F] button is bein

g

p

] button is being

e

s are displ

a

of the serv

o

F

F] button.

r

ation stop]

a

yed in the

d

g

pressed.

a

yed in

o

drive is

button

d

isplay

19

５-２ Jog Feed IAG

5-2-1 External Specification

Object name JogFeed

Category IAG_MCTest_Popup

*1)

Function  Sets parameters for jog speed of the specified axis and others.

 Moves the specified axis in forward/reverse direction.

*1) IAG category for popup page.

“IAG_MCTest_9inch” is the category for 9 inches, and “IIAG_MCTest_12inch” is for 12 inches.

20

5



N

1

2

3

4

5

6

5

-2-2 GUI

Pop-up pa

g

Full-scree

n

o

1

[Apply] b

u

2

Target s

p

3

Accelera

t

4

Decelera

t

5

[Reverse

6

[Forward

②

③

④

g

e

n

Name

u

tton

p

eed

t

ion

t

ion

operation] but

t

operation] but

t

①

 Appli

e

to the

 Sets

t

 To di

r

by pr

e

 To in

c

 Sets

t

 To di

r

by pr

e

 To in

c

 Sets

t

 To di

r

by pr

e

 To in

c

t

on  The

s

t

on  The

s

e

s the target s

p

e

selected axis

.

t

he target spe

e

r

ectly ente

r

se

t

e

ssing in the n

c

rement/decre

m

t

he accelerati

o

r

ectly enter se

t

e

ssing in the n

c

rement/decre

m

t

he decelerati

o

r

ectly enter se

t

e

ssing in the n

c

rement/decre

m

s

ervomotor mo

v

s

ervomotor mo

v

⑤

Des

c

p

eed, accelera

.

e

d.

values, use t

h

u

meral displa

y

m

ent the set v

a

n.

values, use t

h

u

meral displa

y

m

ent the set v

a

o

n.

values, use t

h

u

meral displa

y

m

ent the set v

a

v

es in the rev

e

v

es in the for

w

⑥

⑤

c

ription

tion, and dece

e numeric key

p

area.

a

lue, press the

e numeric key

p

area.

a

lue, press the

e numeric key

p

area.

a

lue, press the

e

rse direction a

ard direction a

①

②

③

④

⑤

⑥

leration that y

o

pad that will b

e

[+] /[-] button.

pad that will b

e

[+] /[-] button.

pad that will b

e

[+] /[-] button.

a

ccording to th

e

a

ccording to th

e

⑥

o

u entered

e

displayed

e

displayed

e

displayed

e

setting.

e

setting.

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Omron NA HMI MC Test Run IAG Library User guide

Omron NA HMI MC Test Run IAG Library User guide

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